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  <div class="section" id="module-packnet_sfm.datasets.kitti_dataset_utils">
<span id="kitti-dataset-utils"></span><h1>kitti_dataset_utils</h1>
<p>Provides helper methods for loading and parsing KITTI data.</p>
<dl class="py class">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsData">
<em class="property">class </em><code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">OxtsData</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">packet</span></em>, <em class="sig-param"><span class="n">T_w_imu</span></em><span class="sig-paren">)</span></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">tuple</span></code></p>
<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsData.T_w_imu">
<em class="property">property </em><code class="sig-name descname">T_w_imu</code></dt>
<dd><p>Alias for field number 1</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsData.packet">
<em class="property">property </em><code class="sig-name descname">packet</code></dt>
<dd><p>Alias for field number 0</p>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket">
<em class="property">class </em><code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">OxtsPacket</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">lat</span></em>, <em class="sig-param"><span class="n">lon</span></em>, <em class="sig-param"><span class="n">alt</span></em>, <em class="sig-param"><span class="n">roll</span></em>, <em class="sig-param"><span class="n">pitch</span></em>, <em class="sig-param"><span class="n">yaw</span></em>, <em class="sig-param"><span class="n">vn</span></em>, <em class="sig-param"><span class="n">ve</span></em>, <em class="sig-param"><span class="n">vf</span></em>, <em class="sig-param"><span class="n">vl</span></em>, <em class="sig-param"><span class="n">vu</span></em>, <em class="sig-param"><span class="n">ax</span></em>, <em class="sig-param"><span class="n">ay</span></em>, <em class="sig-param"><span class="n">az</span></em>, <em class="sig-param"><span class="n">af</span></em>, <em class="sig-param"><span class="n">al</span></em>, <em class="sig-param"><span class="n">au</span></em>, <em class="sig-param"><span class="n">wx</span></em>, <em class="sig-param"><span class="n">wy</span></em>, <em class="sig-param"><span class="n">wz</span></em>, <em class="sig-param"><span class="n">wf</span></em>, <em class="sig-param"><span class="n">wl</span></em>, <em class="sig-param"><span class="n">wu</span></em>, <em class="sig-param"><span class="n">pos_accuracy</span></em>, <em class="sig-param"><span class="n">vel_accuracy</span></em>, <em class="sig-param"><span class="n">navstat</span></em>, <em class="sig-param"><span class="n">numsats</span></em>, <em class="sig-param"><span class="n">posmode</span></em>, <em class="sig-param"><span class="n">velmode</span></em>, <em class="sig-param"><span class="n">orimode</span></em><span class="sig-paren">)</span></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">tuple</span></code></p>
<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.af">
<em class="property">property </em><code class="sig-name descname">af</code></dt>
<dd><p>Alias for field number 14</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.al">
<em class="property">property </em><code class="sig-name descname">al</code></dt>
<dd><p>Alias for field number 15</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.alt">
<em class="property">property </em><code class="sig-name descname">alt</code></dt>
<dd><p>Alias for field number 2</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.au">
<em class="property">property </em><code class="sig-name descname">au</code></dt>
<dd><p>Alias for field number 16</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.ax">
<em class="property">property </em><code class="sig-name descname">ax</code></dt>
<dd><p>Alias for field number 11</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.ay">
<em class="property">property </em><code class="sig-name descname">ay</code></dt>
<dd><p>Alias for field number 12</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.az">
<em class="property">property </em><code class="sig-name descname">az</code></dt>
<dd><p>Alias for field number 13</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.lat">
<em class="property">property </em><code class="sig-name descname">lat</code></dt>
<dd><p>Alias for field number 0</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.lon">
<em class="property">property </em><code class="sig-name descname">lon</code></dt>
<dd><p>Alias for field number 1</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.navstat">
<em class="property">property </em><code class="sig-name descname">navstat</code></dt>
<dd><p>Alias for field number 25</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.numsats">
<em class="property">property </em><code class="sig-name descname">numsats</code></dt>
<dd><p>Alias for field number 26</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.orimode">
<em class="property">property </em><code class="sig-name descname">orimode</code></dt>
<dd><p>Alias for field number 29</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.pitch">
<em class="property">property </em><code class="sig-name descname">pitch</code></dt>
<dd><p>Alias for field number 4</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.pos_accuracy">
<em class="property">property </em><code class="sig-name descname">pos_accuracy</code></dt>
<dd><p>Alias for field number 23</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.posmode">
<em class="property">property </em><code class="sig-name descname">posmode</code></dt>
<dd><p>Alias for field number 27</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.roll">
<em class="property">property </em><code class="sig-name descname">roll</code></dt>
<dd><p>Alias for field number 3</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.ve">
<em class="property">property </em><code class="sig-name descname">ve</code></dt>
<dd><p>Alias for field number 7</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.vel_accuracy">
<em class="property">property </em><code class="sig-name descname">vel_accuracy</code></dt>
<dd><p>Alias for field number 24</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.velmode">
<em class="property">property </em><code class="sig-name descname">velmode</code></dt>
<dd><p>Alias for field number 28</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.vf">
<em class="property">property </em><code class="sig-name descname">vf</code></dt>
<dd><p>Alias for field number 8</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.vl">
<em class="property">property </em><code class="sig-name descname">vl</code></dt>
<dd><p>Alias for field number 9</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.vn">
<em class="property">property </em><code class="sig-name descname">vn</code></dt>
<dd><p>Alias for field number 6</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.vu">
<em class="property">property </em><code class="sig-name descname">vu</code></dt>
<dd><p>Alias for field number 10</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.wf">
<em class="property">property </em><code class="sig-name descname">wf</code></dt>
<dd><p>Alias for field number 20</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.wl">
<em class="property">property </em><code class="sig-name descname">wl</code></dt>
<dd><p>Alias for field number 21</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.wu">
<em class="property">property </em><code class="sig-name descname">wu</code></dt>
<dd><p>Alias for field number 22</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.wx">
<em class="property">property </em><code class="sig-name descname">wx</code></dt>
<dd><p>Alias for field number 17</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.wy">
<em class="property">property </em><code class="sig-name descname">wy</code></dt>
<dd><p>Alias for field number 18</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.wz">
<em class="property">property </em><code class="sig-name descname">wz</code></dt>
<dd><p>Alias for field number 19</p>
</dd></dl>

<dl class="py method">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket.yaw">
<em class="property">property </em><code class="sig-name descname">yaw</code></dt>
<dd><p>Alias for field number 5</p>
</dd></dl>

</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.load_oxts_packets_and_poses">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">load_oxts_packets_and_poses</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">oxts_files</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#load_oxts_packets_and_poses"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Generator to read OXTS ground truth data.
Poses are given in an East-North-Up coordinate system
whose origin is the first GPS position.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>oxts_files</strong> (<em>list of str</em>) – List of oxts files to read from</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><strong>oxts</strong> – List of oxts ground-truth data</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>list of dict</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.pose_from_oxts_packet">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">pose_from_oxts_packet</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">raw_data</span></em>, <em class="sig-param"><span class="n">scale</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#pose_from_oxts_packet"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Helper method to compute a SE(3) pose matrix from an OXTS packet</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>raw_data</strong> (<em>dict</em>) – Oxts data to read from</p></li>
<li><p><strong>scale</strong> (<em>float</em>) – Oxts scale</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><ul class="simple">
<li><p><strong>R</strong> (<em>np.array [3,3]</em>) – Rotation matrix</p></li>
<li><p><strong>t</strong> (<em>np.array [3]</em>) – Translation vector</p></li>
</ul>
</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.read_calib_file">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">read_calib_file</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">filepath</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#read_calib_file"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Read in a calibration file and parse into a dictionary</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>filepath</strong> (<em>str</em>) – File path to read from</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><strong>calib</strong> – Dictionary with calibration values</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>dict</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.rotx">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">rotx</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">t</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#rotx"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Rotation about the x-axis</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>t</strong> (<em>float</em>) – Theta angle</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><strong>matrix</strong> – Rotation matrix</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>np.array [3,3]</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.roty">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">roty</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">t</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#roty"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Rotation about the y-axis</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>t</strong> (<em>float</em>) – Theta angle</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><strong>matrix</strong> – Rotation matrix</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>np.array [3,3]</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.rotz">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">rotz</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">t</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#rotz"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Rotation about the z-axis</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>t</strong> (<em>float</em>) – Theta angle</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><strong>matrix</strong> – Rotation matrix</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>np.array [3,3]</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt id="packnet_sfm.datasets.kitti_dataset_utils.transform_from_rot_trans">
<code class="sig-prename descclassname">packnet_sfm.datasets.kitti_dataset_utils.</code><code class="sig-name descname">transform_from_rot_trans</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">R</span></em>, <em class="sig-param"><span class="n">t</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/packnet_sfm/datasets/kitti_dataset_utils.html#transform_from_rot_trans"><span class="viewcode-link">[source]</span></a></dt>
<dd><p>Transformation matrix from rotation matrix and translation vector.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>R</strong> (<em>np.array</em><em> [</em><em>3</em><em>,</em><em>3</em><em>]</em>) – Rotation matrix</p></li>
<li><p><strong>t</strong> (<em>np.array</em><em> [</em><em>3</em><em>]</em>) – translation vector</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p><strong>matrix</strong> – Transformation matrix</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>np.array [4,4]</p>
</dd>
</dl>
</dd></dl>

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